ES2666793T3 - Procedimiento e instalación de prensión automática de un objeto - Google Patents

Procedimiento e instalación de prensión automática de un objeto Download PDF

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Publication number
ES2666793T3
ES2666793T3 ES15725792.4T ES15725792T ES2666793T3 ES 2666793 T3 ES2666793 T3 ES 2666793T3 ES 15725792 T ES15725792 T ES 15725792T ES 2666793 T3 ES2666793 T3 ES 2666793T3
Authority
ES
Spain
Prior art keywords
specific
gripping
compatible
area
procedure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
ES15725792.4T
Other languages
English (en)
Spanish (es)
Inventor
Hervé Henry
Florian SELLA
Romain BREGIER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sileane SAS
Original Assignee
Sileane SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sileane SAS filed Critical Sileane SAS
Application granted granted Critical
Publication of ES2666793T3 publication Critical patent/ES2666793T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39473—Autonomous grasping, find, approach, grasp object, sensory motor coordination
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39536—Planning of hand motion, grasping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39553—Dual gripper, two heads to pick up different objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Image Processing (AREA)
ES15725792.4T 2014-04-25 2015-04-23 Procedimiento e instalación de prensión automática de un objeto Active ES2666793T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1453725A FR3020303B1 (fr) 2014-04-25 2014-04-25 Procede et installation de prehension automatique d'un objet.
FR1453725 2014-04-25
PCT/FR2015/051113 WO2015162390A1 (fr) 2014-04-25 2015-04-23 Procédé et installation de préhension automatique d'un objet

Publications (1)

Publication Number Publication Date
ES2666793T3 true ES2666793T3 (es) 2018-05-07

Family

ID=51688139

Family Applications (1)

Application Number Title Priority Date Filing Date
ES15725792.4T Active ES2666793T3 (es) 2014-04-25 2015-04-23 Procedimiento e instalación de prensión automática de un objeto

Country Status (9)

Country Link
US (1) US20170050315A1 (pl)
EP (1) EP3134234B1 (pl)
JP (1) JP2017513727A (pl)
DK (1) DK3134234T3 (pl)
ES (1) ES2666793T3 (pl)
FR (1) FR3020303B1 (pl)
PL (1) PL3134234T3 (pl)
PT (1) PT3134234T (pl)
WO (1) WO2015162390A1 (pl)

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CA2998128C (en) 2015-09-08 2023-11-28 Berkshire Grey, Inc. Systems and methods for providing high flow vacuum acquisition in automated systems
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FR3044573B1 (fr) * 2015-12-03 2017-12-22 Sileane Procede et installation permettant de constituer un lot de pieces a partir de pieces situees dans des zones de stockage differentes
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JP7073742B2 (ja) * 2018-01-25 2022-05-24 株式会社リコー 情報処理システム、ピッキング箇所特定方法及びプログラム
AT521112A1 (de) 2018-03-09 2019-10-15 Tgw Logistics Group Gmbh Robotersystem zum Greifen einer Ware in einem Lager- und Kommissioniersystem und Betriebsverfahren hierfür
AT520958A1 (de) 2018-03-09 2019-09-15 Tgw Logistics Group Gmbh Robotersystem mit an Warentypen angepassten Bewegungsabläufen und Betriebsverfahren hierfür
AT520957A1 (de) 2018-03-09 2019-09-15 Tgw Logistics Group Gmbh Robotersystem zur Prüfung eines Laderaums eines Ladehilfsmittels in einem Lager- und Kommissioniersystem und Betriebsverfahren hierfür
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Also Published As

Publication number Publication date
JP2017513727A (ja) 2017-06-01
PL3134234T3 (pl) 2018-08-31
DK3134234T3 (en) 2018-04-30
FR3020303B1 (fr) 2016-07-15
FR3020303A1 (fr) 2015-10-30
WO2015162390A1 (fr) 2015-10-29
EP3134234A1 (fr) 2017-03-01
PT3134234T (pt) 2018-05-25
EP3134234B1 (fr) 2018-03-21
US20170050315A1 (en) 2017-02-23

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